Movement tracking of operator-facing cameras

ABSTRACT

Systems and methods for optimizing operator-state detection including tracking position of an operator-facing camera are described. Systems and methods include receiving a first image captured by an operator-facing camera, detecting a first position of the operator-facing camera with respect to the calibration object, ascertaining the first position with respect to at least one fiducial marker within a passenger compartment of a vehicle, capturing, via controller, a second image using the operator-facing camera, determining the second image is captured by the operator-facing camera from a second position with respect to the at least one fiducial marker, and analyzing, based on determining the second image is captured by the operator-facing camera from the second position, the second image to identify facial features of the operator. The receiving, detecting, ascertaining, determining, and analyzing are performed via a controller. The first image includes a calibration object disposed at a predetermined location.

INTRODUCTION

The disclosure relates to the field of operator monitoring systems and,more particularly, to systems and methods for tracking movement ofoperator monitoring cameras.

Operator monitoring systems are configured to ascertain a state of theoperator from a captured image, determine whether the operator is, forexample, inattentive, provide at least one signal to the operator torestore alertness, and/or provide signals to vehicle control systems toavoid an unintended consequence that could result from an inattentiveoperator. For example, warning systems may be enabled to provide warningsignals, such as visual or audial warning signals, to alert the operatorthat he or she is determined to be inattentive. Further, vehicle controlsystems, such as automatic braking and automatic steering systems, maybe actuated to bring the vehicle to a stop if it is determined that theoperator has not become attentive even after the warning signal.

SUMMARY

It is desirable to optimize detection of a state of a vehicle operator.Systems and methods as disclosed herein optimize detection of the stateof the vehicle operator by detecting movement and/or position of anoperator-facing camera within the passenger compartment of the vehicle.

According to aspects of the present disclosure, a method includesreceiving a first image captured by an operator-facing camera, detectinga first position of the operator-facing camera with respect to thecalibration object, ascertaining the first position with respect to atleast one fiducial marker within a passenger compartment of a vehicle,capturing, via controller, a second image using the operator-facingcamera, determining the second image is captured by the operator-facingcamera from a second position with respect to the at least one fiducialmarker, and analyzing, based on determining the second image is capturedby the operator-facing camera from the second position, the second imageto identify facial features of the operator. The receiving, detecting,ascertaining, determining, and analyzing are performed via a controller.The first image includes a calibration object disposed at apredetermined location. The operator-facing camera is movable within thepassenger compartment. The second image includes an operator and the atleast one fiducial marker.

According to further aspects of the present disclosure, the calibrationobject is a grid pattern.

According to further aspects of the present disclosure, the calibrationobject is directly attached to a calibration apparatus coupled to asteering wheel of an adjustable steering apparatus.

According to further aspects of the present disclosure, theoperator-facing camera is co-located with a steering wheel of anadjustable steering apparatus.

According to further aspects of the present disclosure, the at least onefiducial marker includes a structure within the passenger compartment.

According to further aspects of the present disclosure, the at least onefiducial marker includes an infrared-emitting object.

According to further aspects of the present disclosure, theinfrared-emitting object is integrated within a textile.

According to further aspects of the present disclosure, theinfrared-emitting object passively emits infrared radiation.

According to further aspects of the present disclosure, theinfrared-emitting object actively emits infrared radiation, and theinfrared-emitting object is selectively actuated to provide infraredradiation to the operator-facing camera while capturing the secondimage.

According to further aspects of the present disclosure, the methodfurther includes determining a configuration of an operator seat, andanalyzing the second image to identify facial features of the operatoris further based on the configuration of the operator seat.

According to aspects of the present disclosure, a vehicle includes apassenger compartment configured to receive an operator therein, anoperator-facing camera configured to capture images of the passengercompartment including the operator, and a controller in communicationwith the operator-facing camera. The operator-facing camera is movablewithin the passenger compartment of the vehicle. The controller isprogrammed to receive a first image including a calibration objectdisposed at a predetermined location captured by the operator-facingcamera, ascertain the first position with respect to at least onefiducial marker within the passenger compartment, capture a second imageusing the operator-facing camera, determine whether the second image iscaptured by the operator-facing camera from a second position withrespect to the at least one fiducial marker, and analyze, based ondetermining the second image is captured by the operator-facing camerafrom the second position, the second image to identify facial featuresof the operator. The second image includes the operator and the at leastone fiducial marker.

According to further aspects of the present disclosure, the calibrationobject is a plurality of crosshairs.

According to further aspects of the present disclosure, the calibrationobject is directly attached to a calibration apparatus coupled to asteering wheel of an adjustable steering apparatus.

According to further aspects of the present disclosure, theoperator-facing camera is co-located with a steering wheel of anadjustable steering apparatus.

According to further aspects of the present disclosure, the at least onefiducial marker includes a structure within the passenger compartment.

According to further aspects of the present disclosure, the at least onefiducial marker includes an infrared-emitting object.

According to further aspects of the present disclosure, theinfrared-emitting object is integrated within a textile.

According to further aspects of the present disclosure, theinfrared-emitting object passively emits infrared radiation.

According to further aspects of the present disclosure, theinfrared-emitting object is configured to actively emit infraredradiation and the infrared-emitting object is configured to beselectively actuated to provide infrared radiation to theoperator-facing camera while capturing the second image.

According to further aspects of the present disclosure, the controlleris further programmed to determine a configuration of an operator seat,and wherein analyzing the second image to identify facial features ofthe operator is further based on the configuration of the operator seat.

The above features and advantages and other features and advantages ofthe present disclosure are readily apparent from the following detaileddescription of the best modes for carrying out the disclosure when takenin connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are illustrative and not intended to limit the subjectmatter defined by the claims. Exemplary aspects are discussed in thefollowing detailed description and shown in the accompanying drawings inwhich:

FIG. 1 is a schematic illustration of a passenger compartment of avehicle;

FIG. 2 is a schematic illustration of a view of the passengercompartment of FIG. 1 including a calibration apparatus;

FIG. 3 is a schematic illustration of the passenger compartment of FIG.2 without the calibration apparatus; and

FIG. 4 is a flowchart of a method of optimized identification offeatures, according to aspects of the present disclosure.

DETAILED DESCRIPTION

When ascertaining the state of an operator of a vehicle, such as vehicle1, features of the operator are ascertained by an operator monitoringsystem. Identifying these features and ascertaining the state of theoperator is complicated by vehicle-to-vehicle and instance-to-instancevariations. For example, algorithms attempting to identify operatorfeatures accommodate a broad search space because distances to andgeometries of vehicle or cabin features vary between makes, models,model years, trims, etc.; the configuration of the passenger compartmentmay vary between makes, models, model years, trims, etc.; distances tovehicle or cabin features may vary during manufacturing, even invehicles having identical specifications, due to a differentinitialization location arising from positional adjustability of thesteering wheel and/or occupant seat; different heights and facialfeatures of operators; unknown illumination conditions reducingreliability of detection of the facial features; and/or abrupt changesin the operator's head pose are difficult to track in video streams orimage data captured by the camera device.

Beneficially, systems and methods in accordance with the presentdisclosure may optimize functioning of an operator monitoring system.Such optimizations may include optimizing the identification of facialfeatures, reducing processing time required to identify facial features,reducing data storage requirements for analysis of facial features,and/or reducing misidentification of an operator's state. Further,systems and methods in accordance with the present disclosure mayoptimize vehicle function through accurate assessment of an operatorstate. Such optimized vehicle function may include prolonged operationin autonomous and semi-autonomous modes to thereby reduce operatorinterventions with the vehicle and reduced handoffs between autonomousand non-autonomous modes. According to aspects of the presentdisclosure, these and other benefits are accomplished by systems andmethods of tracking spatial placement of an operator-facing camera thatis movable, for example, during adjustments to optimize visibility andcomfort of an operator.

Referring now to FIG. 1, a vehicle 1 is shown. The vehicle 1 includes apassenger compartment 10 including an adjustable steering apparatus 102,an operator seat 104, windows 106, pillars 108, and the like. Theadjustable steering apparatus 102 is movably positioned relative to thevehicle 1. As used herein, the term passenger compartment 10 may alsorefer to structural portions of the vehicle 1 that are generally notvisible during operation of the vehicle, such as door jambs, doorlatches, an interior of the roof which may be later obscured by theheadliner, untrimmed pillars, and the like. The adjustable steeringapparatus 102 includes a steering wheel 122, a body 124, and anoperator-facing camera 126 such that movement of the adjustable steeringapparatus 102 in space results in movement of the steering wheel 122,the body 124, and the operator-facing camera 126.

The steering wheel 122 is rotatable relative to the body 124. The body124 includes the steering wheel 122 and the operator-facing camera 126coupled thereto. The steering wheel 122 and/or the operator-facingcamera 126 may be directly attached to the body 124. The body 124 mayhouse a number of steering-control components therein. Thesteering-control components are configured to assist in steering of thevehicle 1 and may include sensors, controllers, actuators,communications interfaces, mechanical couplings, and the like to assistin effecting steering of the vehicle 1.

The operator-facing camera 126 is configured to capture images of atleast one operator of the vehicle. The operator-facing camera 126 maycapture predetermined wavelengths of light including one or more ofinfrared light, visible light, and ultraviolet light. Theoperator-facing camera 126 may be disposed a fixed distance from thesteering wheel 122 or may be disposed a variable distance from thesteering wheel 122. In some aspects, the operator-facing camera 126 isco-located with the steering wheel 122 such that adjustment of thesteering wheel 122 to optimize comfort of the operator results in acorrelated adjustment of the operator-facing camera 126.

The operator seat 104 is configured to receive an operator of thevehicle 1. The operator seat 104 may be translated to differentpositions within passenger compartment 10, such as different distancesfrom a front of the vehicle 1 or different heights from a floor of thevehicle 1. The operator seat 104 may be placed into differentconfigurations, such as a backrest 142 being pivotably positionedrelative to a base 144 of the operator seat 104 and a head restraint 146being extendably positioned relative to the backrest 142.

The vehicle 1 further includes one or more controllers (notillustrated). The terms “controller,” “control module,” “control,”“control unit,” “processor” and similar terms mean any one or variouscombinations of one or more of Application Specific IntegratedCircuit(s) (ASIC), electronic circuit(s), central processing unit(s)(preferably microprocessor(s)) and associated memory and storage (readonly, programmable read only, random access, hard drive, etc.) executingone or more software or firmware programs or routines, combinationallogic circuit(s), sequential logic circuit(s), input/output circuit(s)and devices, appropriate signal conditioning and buffer circuitry, andother components to provide the described functionality. “Software,”“firmware,” “programs,” “instructions,” “routines,” “code,” “algorithms”and similar terms mean a controller executable instruction setsincluding calibrations and look-up tables. In some aspects, thecontroller includes a central processing unit (CPU).

To appropriately control operation of the vehicle 1, operator-monitoringsystem, or subcomponents thereof, the controller may include a processor(e.g., a microprocessor) and at least one memory, at least some of whichis tangible and non-transitory. The memory may storecontroller-executable instruction sets, and the processor may executethe controller executable instruction sets stored in the memory. Thememory may be a recordable medium that participates in providingcomputer-readable data or process instructions.

The recordable medium may take many forms, including but not limited tonon-volatile media and volatile media. Non-volatile media for thecontroller may include, for example, optical or magnetic disks and otherpersistent memory. Volatile media may include, for example, dynamicrandom access memory (DRAM), which may constitute a main memory. Thememory of the controller may also include a solid-state medium, a floppydisk, a flexible disk, hard disk, magnetic tape, another magneticmedium, a CD-ROM, DVD, another optical medium, combinations thereof, andthe like.

The controller-executable instruction sets may be transmitted by one ormore transmission media, including coaxial cables, copper wire ortraces, fiber optics, combinations thereof, and the like. For example,the transmission media may include a system bus that couples two or morecomponents of the vehicle 1, operator-monitoring system, orsubcomponents, such as the controller and the operator-facing camera126.

The controller may be configured to communicate with or equipped withother required computer hardware, such as a high-speed clock, requisiteAnalog-to-Digital (A/D) and/or Digital-to-Analog (D/A) circuitry,input/output circuitry and devices (I/O), as well as appropriate signalconditioning and/or buffer circuitry. Algorithms of the controller oraccessible thereby may be stored in the memory and automaticallyexecuted to provide the required functionality for the relevantcomponents.

FIG. 2 illustrates the passenger compartment 10 with a calibrationapparatus 200 disposed therein. The calibration apparatus 200 isconfigured to assist in determining the location and orientation of theoperator-facing camera 126 in three-dimensional space. In some aspects,the calibration apparatus 200 includes a level mechanism 202 and acalibration object 204. The level mechanism 202 is configured todetermine whether a surface is level and/or plumb. In some aspects, thelevel mechanism 202 is an electronic level or a spirit/bubble level.

The calibration object 204 is configured to provide information fordetermining the location and/or orientation of the operator-facingcamera 126. For example, the information may include a plurality ofintersecting lines. In some aspects, the plurality of intersecting linesis arranged as a plurality of crosshairs. In some further aspects, atleast five crosshairs are used and arranged in a predetermined pattern.In some aspects, the plurality of intersecting lines forms a gridpattern. The features of the calibration object 204 are oriented withrespect to the level mechanism 202 such that images of the calibrationobject 204 captured by the operator-facing camera 126 may be used todetermine level, plumb, and/or distance. The features of the calibrationobject 204 are superimposed over an imager space and an offsetgenerated.

In the illustrated embodiment, the calibration object 204 is a gridhaving squares of known sizes. A captured image of the calibrationobject 204 may be analyzed to determine distortions of horizontal lines240 and vertical lines 242. Distortions of the horizontal lines 240 andvertical lines 242 may be corrected such that level and plumb ofcaptured images may be determined.

The calibration object 204 is disposed at a predetermined locationwithin the passenger compartment 10. In some aspects, the predeterminedlocation is a position known relative to the operator-facing camera 126.In some aspects, the predetermined location is a position known relativeto the steering wheel 122. In some aspects, the predetermined locationis a position known relative to the passenger compartment 10.

FIG. 3 illustrates the passenger compartment 10 of the vehicle 1 withoutthe calibration apparatus 200. The passenger compartment 10 includesfiducial markers 206 for use as positional references afterinitialization of the operator-facing camera 126. In some aspects, thefiducial markers 206 include radiation-emitting objects, such as lamps2061 or infrared-emitting objects 206 i. In some aspects, the fiducialmarkers 206 include ersatz fiducials 206 e, such as structures withinthe passenger compartment 10. The ersatz fiducials 206 e may include theoperator seat 104, windows 106, pillars 108, and the like.

Beneficially, the fiducial markers may be detectable by theoperator-facing camera 126 without being generally perceptible by theoperator. For example, the fiducial markers 206 may beradiation-emitting objects that emit radiation outside of the visiblespectrum, such as one or more infrared-emitting objects 206 i. Theinfrared-emitting objects 206 i are configured to emit infraredradiation such that boundaries between the infrared-emitting objects 206i and adjacent features are detectable in images captured by theoperator-facing camera 126.

The infrared radiation may be actively or passively emitted. In someaspects, the active emission is in response to an actuating signal, suchas an electrical current being passed through the infrared-emittingobject 206 i. Beneficially, in some aspects, the actuating signal may beless than, for example, 1.0 amp. In some aspects, the actuating signalmay be less than 0.5 amp. In some aspects, the passive emission is aresult of the material achieving predetermined conditions, such as theinfrared-emitting object 206 i being at the ambient temperature of thepassenger compartment 10.

Beneficially, use of infrared-emitting objects 206 i provide foroptimized detection of the position of the operator-facing camera 126even when lighting conditions inhibit detection of other fiducialmarkers 206, such as windows 106 and pillars 108. For example, inlow-light conditions, the boundary between a window 106 and an adjacentpillar 108 may be obscured such that a shape-matching algorithm cannotdiscern the boundary within a sufficient margin of error. In someaspects, the shape-matching algorithm analyzes surfaces, features,material appearances, lighting, shading, combinations thereof, and thelike within images to determine candidate objects and borders betweenthose objects, and matches the candidate object to known objects storedor obtained from previous images.

In some aspects, the infrared-emitting objects 206 i are integratedwithin textiles. Textile-integrated infrared-emitting objects 206 i maybe, for example, multi-filament yarns coated and/or impregnated with aninfrared-generating material. The filaments may include or be formedfrom polymeric materials (e.g., polyester). In some aspects, theinfrared-generating material is coated on and/or impregnated into one ormore individual filaments within the yarn. Additionally oralternatively, the infrared-generating material is coated on and/orimpregnated into the yarn as a whole. In some aspects, themulti-filament yarns include one or more electrically conductivefilaments.

Beneficially, textile-integrated infrared-emitting objects 206 i may belocated or patterned within existing interior textile trim components,such as the headliner 302, the pillars 108, seats 104, head restraints146, door panels 304, seatbelt, portions thereof, and the like. Themulti-filament yarns are generally amenable to one or moretextile-manufacturing methods including weaving, knitting, sewing,embroidering, etc. Beneficially, power-delivery elements may also beintegrated within the textile trim components in the form of, forexample, conductive yarns to thereby reduce the number of ancillarycomponents required to actuate the infrared-emitting objects 206 i andoptimize installation of the infrared-emitting objects 206 i. Further,the infrared-emitting objects 206 i may be implemented withoutdisturbing class A surfaces even if there is a difference in visualappearance between the infrared-emitting objects 206 i and the desiredinterior textile trim. For example, a multi-bed knitting machine may beused to integrate the infrared-emitting objects 206 i into the interiortextile trim components without altering the visual appearance of therespective class A surface.

Referring now to FIG. 4, a method of optimized identification offeatures is shown. The method includes obtaining 402, via theoperator-facing camera 126, a first image including the calibrationobject 204 disposed at the predetermined location. The method thendetects 404, via the controller, the first position with respect to thecalibration object 204.

The method also ascertains 406, via the controller, the first positionwith respect to at least one of the fiducial markers 206 within thepassenger compartment 10. In some aspects, the fiducial marker 206 isincluded within the first image. Additionally or alternatively, thefiducial marker 206 is within an additional image of the passengercompartment 10 that is captured after removal of the calibration object204, and prior to movement of the operator-facing camera 126 to anotherposition.

The first position may be ascertained, for example, using a singlefiducial marker 206 if information, such as the size of the marker, isknown. The known size may be a technician-inputted value, a standardizedsize, or an encoded value within the fiducial marker itself. In someaspects, the technician-inputted value is received by the controllerthrough an I/O device. In some aspects, the standardized size may be,for example, a predetermined size of the symbol that is used acrossapplicable makes, models, model years, etc. In some aspects, the encodedvalue may be, for example, machine-readable information within thefiducial marker 206.

Additionally or alternatively, the first position may be known relativeto a plurality of fiducial markers 206. Beneficially, use of a pluralityof fiducial markers 206 optimizes robustness of the system. In someaspects, robustness is optimized because identification of the pluralityof fiducial markers 206 allows relative values, such as distance betweenindividual ones of the fiducial markers 206 to provide usefulinformation regarding location of the operator-facing camera 126 withoutrequiring knowledge of the particular size of, shape of, or distance tothe fiducial markers 206. In some aspects, robustness is optimizedbecause identification of the plurality of fiducial markers 206 allowsfor identification of positions of the operator-facing camera 126 usingas few as a single fiducial marker 206 even though the absolute size of,shape of, or distance to the fiducial marker 206 is not known by thecontroller. For example, factors such as enlargement or reduction of thefiducial marker 206 captured relative to that of the fiducial markercaptured at the first position, skewing of the shape of the fiducialmarker 206, and other optical features may be used to determine movementof the operator-facing camera 126 relative to the fiducial marker 206.

Information regarding the fiducial markers 206 and the initial positionof the operator-facing camera 126 may be stored in volatile ornon-volatile memory. Beneficially, the stored information may becorrelated to other stored information, such as operator-identifyinginformation. In some aspects, the operator-identifying informationincludes, seat configurations stored in memory, particular key orkeyfobs used to start the vehicle, detectable radio-frequency basedinformation (such as information received from a mobile device),combinations thereof, and the like.

The method further includes capturing 408, via the operator-facingcamera 126, a second image including the vehicle operator and at leastone of the fiducial markers 206. The method also determines 410, via thecontroller, that the second image is captured by the operator-facingcamera from a second position with respect to the fiducial marker 206.In some aspects, determining differences in identified fiducial markers206, such as changes to size, shape, relative distances to otherfiducial markers, etc., and combinations thereof may be used todetermine that the operator-facing camera 126 has moved from the firstor a previously known position. Additionally or alternatively, actuationof an adjustment to a relevant component, such as adjustment of theoperator seat 104 or the adjustable steering apparatus 102 may be usedby the controller to indicate that the operator-facing camera 126 hasmoved from the first or the previously known position.

The method then analyzes 412 the second image to identify facialfeatures of the operator based on determining 410 the second image iscaptured by the operator-facing camera 126 from the second position.Beneficially, using the determined second position, processes toidentify the facial features may be optimized. For example, the searchspace for identifying the facial features of the operator may be reducedby narrowing the possible volume that the operator may occupy.Additionally or alternatively, a predetermined subset of the secondimage is analyzed for facial features of the operator based ondetermining the second image is captured by the operator-facing camera126 from the second position. Yet additionally or alternatively, ascaling factor applied to potential sizes of facial features orpotential relations between facial features is increased or decreasedbased on the operator-facing camera 126 being located at the secondposition relative to the first position. For example, both potentialsizes of and potential distanced between facial features is reduced foran image captured from further away from the operator than for an imagecaptured from closer to the operator.

Beneficially, systems and methods as described herein may be used tocorrect for rotation of the operator-facing camera 126, therebyincreasing locations for placement of the operator-facing camera 126.

As used herein, unless the context clearly dictates otherwise: the words“and” and “or” shall be both conjunctive and disjunctive, unless thecontext clearly dictates otherwise; the word “all” means “any and all”the word “any” means “any and all”; the word “including” means“including without limitation”; and the singular forms “a”, “an”, and“the” includes the plural referents and vice versa.

As understood by one of skill in the art, the present disclosure issusceptible to various modifications and alternative forms, and somerepresentative embodiments have been shown by way of example in thedrawings and described in detail above. It should be understood,however, that the novel aspects of this disclosure are not limited tothe particular forms illustrated in the appended drawings. Rather, thedisclosure is to cover all modifications, equivalents, combinations,sub-combinations, permutations, groupings, and alternatives fallingwithin the scope and spirit of the disclosure and as defined by theappended claims.

While the best modes for carrying out the disclosure have been describedin detail, those familiar with the art to which this disclosure relateswill recognize various alternative designs and embodiments forpracticing the disclosure within the scope of the appended claims.

What is claimed is:
 1. A method comprising: receiving, via a controller,a first image captured by an operator-facing camera, the first imageincluding a calibration object disposed at a predetermined location, theoperator-facing camera being movable within a passenger compartment of avehicle; detecting, via the controller, a first position of theoperator-facing camera with respect to the calibration object;ascertaining, via the controller, the first position with respect to atleast one fiducial marker within the passenger compartment; capturing,via controller, a second image using the operator-facing camera, thesecond image including an operator and the at least one fiducial marker;determining, via the controller, the second image is captured by theoperator-facing camera from a second position with respect to the atleast one fiducial marker; and analyzing, based on determining thesecond image is captured by the operator-facing camera from the secondposition, the second image to identify facial features of the operator.2. The method of claim 1, wherein the calibration object is a pluralityof crosshairs.
 3. The method of claim 1, wherein the calibration objectis directly attached to a calibration apparatus coupled to a steeringwheel of an adjustable steering apparatus.
 4. The method of claim 1,wherein the operator-facing camera is co-located with a steering wheelof an adjustable steering apparatus.
 5. The method of claim 1, whereinthe at least one fiducial marker includes a structure within thepassenger compartment.
 6. The method of claim 1, wherein the at leastone fiducial marker includes an infrared-emitting object.
 7. The methodof claim 6, wherein the infrared-emitting object is integrated within atextile.
 8. The method of claim 6, wherein the infrared-emitting objectpassively emits infrared radiation.
 9. The method of claim 6, whereinthe infrared-emitting object actively emits infrared radiation andwherein the infrared-emitting object is selectively actuated to provideinfrared radiation to the operator-facing camera while capturing thesecond image.
 10. The method of claim 1, further comprising determining,via the controller, a configuration of an operator seat, whereinanalyzing the second image to identify facial features of the operatoris further based on the configuration of the operator seat.
 11. Avehicle comprising: a passenger compartment configured to receive anoperator therein; an operator-facing camera configured to capture imagesof the passenger compartment including the operator, the operator-facingcamera being movable within the passenger compartment of the vehicle;and a controller in communication with the operator-facing camera, thecontroller being programmed to: receive a first image captured by theoperator-facing camera, the first image including a calibration objectdisposed at a predetermined location; detect a first position of theoperator-facing camera with respect to the calibration object; ascertainthe first position with respect to at least one fiducial marker withinthe passenger compartment; capture a second image using theoperator-facing camera, the second image including the operator and theat least one fiducial marker; determine whether the second image iscaptured by the operator-facing camera from a second position withrespect to the at least one fiducial marker; and analyze, based ondetermining the second image is captured by the operator-facing camerafrom the second position, the second image to identify facial featuresof the operator.
 12. The vehicle of claim 11, wherein the calibrationobject is a plurality of crosshairs.
 13. The vehicle of claim 11,wherein the calibration object is directly attached to a calibrationapparatus coupled to a steering wheel of an adjustable steeringapparatus.
 14. The vehicle of claim 11, wherein the operator-facingcamera is co-located with a steering wheel of an adjustable steeringapparatus.
 15. The vehicle of claim 11, wherein the at least onefiducial marker includes a structure within the passenger compartment.16. The vehicle of claim 11, wherein the at least one fiducial markerincludes an infrared-emitting object.
 17. The vehicle of claim 16,wherein the infrared-emitting object is integrated within a textile. 18.The vehicle of claim 16, wherein the infrared-emitting object passivelyemits infrared radiation.
 19. The vehicle of claim 16, wherein theinfrared-emitting object is configured to actively emit infraredradiation and wherein the infrared-emitting object is selectivelyactuated to provide infrared radiation to the operator-facing camerawhile capturing the second image.
 20. The vehicle of claim 11, whereinthe controller is further programmed to determine a configuration of anoperator seat, and wherein analyzing the second image to identify facialfeatures of the operator is further based on the configuration of theoperator seat.